DE112013000914A5 - Determining a condition of a road surface by means of a 3D camera - Google Patents
Determining a condition of a road surface by means of a 3D camera Download PDFInfo
- Publication number
- DE112013000914A5 DE112013000914A5 DE112013000914.5T DE112013000914T DE112013000914A5 DE 112013000914 A5 DE112013000914 A5 DE 112013000914A5 DE 112013000914 T DE112013000914 T DE 112013000914T DE 112013000914 A5 DE112013000914 A5 DE 112013000914A5
- Authority
- DE
- Germany
- Prior art keywords
- camera
- determining
- condition
- road surface
- road
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
- G01B11/306—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces for measuring evenness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/40—Analysis of texture
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012101085A DE102012101085A1 (en) | 2012-02-10 | 2012-02-10 | Determining a condition of a road surface by means of a 3D camera |
DE102012101085.4 | 2012-02-10 | ||
PCT/DE2013/100028 WO2013117186A1 (en) | 2012-02-10 | 2013-01-28 | Determining the characteristics of a road surface by means of a 3d camera |
Publications (1)
Publication Number | Publication Date |
---|---|
DE112013000914A5 true DE112013000914A5 (en) | 2014-10-23 |
Family
ID=47891329
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102012101085A Withdrawn DE102012101085A1 (en) | 2012-02-10 | 2012-02-10 | Determining a condition of a road surface by means of a 3D camera |
DE112013000914.5T Pending DE112013000914A5 (en) | 2012-02-10 | 2013-01-28 | Determining a condition of a road surface by means of a 3D camera |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102012101085A Withdrawn DE102012101085A1 (en) | 2012-02-10 | 2012-02-10 | Determining a condition of a road surface by means of a 3D camera |
Country Status (5)
Country | Link |
---|---|
US (1) | US9679204B2 (en) |
EP (1) | EP2812652A1 (en) |
JP (1) | JP6117245B2 (en) |
DE (2) | DE102012101085A1 (en) |
WO (1) | WO2013117186A1 (en) |
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DE102012112725A1 (en) | 2012-12-20 | 2014-06-26 | Continental Teves Ag & Co. Ohg | Friction estimation from camera and wheel speed data |
DE102012112724A1 (en) | 2012-12-20 | 2014-06-26 | Continental Teves Ag & Co. Ohg | Method for determining a road condition from environmental sensor data |
DE102013101639A1 (en) | 2013-02-19 | 2014-09-04 | Continental Teves Ag & Co. Ohg | Method and device for determining a road condition |
DE102013221713A1 (en) | 2013-10-25 | 2014-12-11 | Continental Automotive Gmbh | Method for displaying image information on a head-up instrument of a vehicle |
DE102013223014A1 (en) * | 2013-11-12 | 2015-05-13 | Robert Bosch Gmbh | Driver assistance system for a motor vehicle for the anticipatory detection of a road surface |
DE102013018926B4 (en) * | 2013-11-13 | 2021-06-02 | Audi Ag | Method and system for determining a value for an altitude |
DE102013223367A1 (en) | 2013-11-15 | 2015-05-21 | Continental Teves Ag & Co. Ohg | Method and device for determining a road condition by means of a vehicle camera system |
DE102013224791A1 (en) * | 2013-12-03 | 2015-06-03 | Continental Teves Ag & Co. Ohg | A method of detecting at least one lane marking of a lane ahead of a vehicle |
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DE102014207084A1 (en) * | 2014-04-14 | 2015-10-15 | Siemens Aktiengesellschaft | Method, device and system for detecting road damage |
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EP2990531A1 (en) | 2014-08-27 | 2016-03-02 | Joseph Vögele AG | System for road finisher with a temperature measuring device, method for determining a cooling behaviour und computer-readable storage medium |
DE102014223259B4 (en) | 2014-11-14 | 2021-10-14 | Conti Temic Microelectronic Gmbh | Method for estimating the course of a lane in a lane |
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US20160292518A1 (en) * | 2015-03-30 | 2016-10-06 | D-Vision C.V.S Ltd | Method and apparatus for monitoring changes in road surface condition |
DE102015206335A1 (en) | 2015-04-09 | 2016-10-13 | Bayerische Motoren Werke Aktiengesellschaft | Procedure for warning a road user |
DE102015007592A1 (en) * | 2015-06-16 | 2016-12-22 | Audi Ag | Trajectory-based suspension control |
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DE102015222926A1 (en) * | 2015-11-20 | 2017-05-24 | Robert Bosch Gmbh | Automatic parking |
US20210080242A1 (en) * | 2015-12-04 | 2021-03-18 | Pavement Analytics Limited | Method and system for measuring deformation of a surface |
DE102016203959A1 (en) * | 2016-03-10 | 2017-09-14 | Robert Bosch Gmbh | Infrastructure recognition apparatus for a vehicle, method for generating a signal, and method for providing repair information |
DE102016110461A1 (en) * | 2016-06-07 | 2017-12-07 | Connaught Electronics Ltd. | Method for detecting an inclination in a roadway for a motor vehicle, driver assistance system and motor vehicle |
DE102016210545A1 (en) * | 2016-06-14 | 2017-12-14 | Continental Automotive Gmbh | Method and system for detecting properties of accumulated water on a track |
US10339391B2 (en) * | 2016-08-24 | 2019-07-02 | Gm Global Technology Operations Llc. | Fusion-based wet road surface detection |
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DE102016225352B4 (en) | 2016-12-16 | 2018-10-04 | Volkswagen Aktiengesellschaft | Method for estimating a coefficient of friction of a roadway by means of a motor vehicle and control device and motor vehicle |
EP3544856B1 (en) | 2017-01-12 | 2023-12-20 | Mobileye Vision Technologies Ltd. | Determining a road surface characteristic |
US11266054B2 (en) | 2017-01-24 | 2022-03-08 | Cnh Industrial America Llc | System and method for automatically estimating and adjusting crop residue parameters as a tillage operation is being performed |
US10123475B2 (en) | 2017-02-03 | 2018-11-13 | Cnh Industrial America Llc | System and method for automatically monitoring soil surface roughness |
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EP3722172A4 (en) * | 2017-12-07 | 2020-12-02 | Nissan Motor Co., Ltd. | Road condition determination method and road condition determination device |
KR102133973B1 (en) * | 2018-11-27 | 2020-07-15 | 넥센타이어 주식회사 | Tire abrasion confirmation system and method thereof |
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DE102011100907A1 (en) * | 2011-05-09 | 2012-01-12 | Daimler Ag | Device for determining road condition of roadway located in front of vehicle, comprises imaging sensor for detecting road surface, and evaluation unit for evaluation of image data |
DE102011056671A1 (en) | 2011-12-20 | 2013-06-20 | Conti Temic Microelectronic Gmbh | Determining a height profile of a vehicle environment using a 3D camera |
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-
2012
- 2012-02-10 DE DE102012101085A patent/DE102012101085A1/en not_active Withdrawn
-
2013
- 2013-01-28 DE DE112013000914.5T patent/DE112013000914A5/en active Pending
- 2013-01-28 JP JP2014555940A patent/JP6117245B2/en active Active
- 2013-01-28 EP EP13709741.6A patent/EP2812652A1/en not_active Withdrawn
- 2013-01-28 WO PCT/DE2013/100028 patent/WO2013117186A1/en active Application Filing
- 2013-01-28 US US14/364,773 patent/US9679204B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP2812652A1 (en) | 2014-12-17 |
US9679204B2 (en) | 2017-06-13 |
JP6117245B2 (en) | 2017-04-19 |
JP2015510119A (en) | 2015-04-02 |
DE102012101085A1 (en) | 2013-08-14 |
WO2013117186A1 (en) | 2013-08-15 |
US20140347448A1 (en) | 2014-11-27 |
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